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<div class="title">raycaster.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
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<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_KINFU_TSDF_RAYCASTER_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_KINFU_TSDF_RAYCASTER_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_macros.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/containers/device_array.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/kinfu/pixel_rgb.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;boost/shared_ptr.hpp&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;Eigen/Geometry&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;{</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="keyword">namespace </span>gpu</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  {</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keyword">class </span>TsdfVolume;</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="structpcl_1_1gpu_1_1_ray_caster.html">   59</a></span>&#160;    <span class="keyword">struct </span>PCL_EXPORTS <a class="code" href="structpcl_1_1gpu_1_1_ray_caster.html">RayCaster</a></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    {</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;RayCaster&gt; Ptr;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;float&gt;</a> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;PixelRGB&gt;</a> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">View</a>;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;unsigned short&gt;</a> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">Depth</a>;     </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="structpcl_1_1gpu_1_1_ray_caster.html#a5585298f07e2eca21926256f9771246d">   68</a></span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="structpcl_1_1gpu_1_1_ray_caster.html#a5585298f07e2eca21926256f9771246d">cols</a>, rows;      </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      </div>
<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="structpcl_1_1gpu_1_1_ray_caster.html#ad7b64edce595a883b446cfb2006f7121">   78</a></span>&#160;      <a class="code" href="structpcl_1_1gpu_1_1_ray_caster.html#ad7b64edce595a883b446cfb2006f7121">RayCaster</a>(<span class="keywordtype">int</span> rows = 480, <span class="keywordtype">int</span> cols = 640, <span class="keywordtype">float</span> fx = 525.f, <span class="keywordtype">float</span> fy = 525.f, <span class="keywordtype">float</span> cx = -1, <span class="keywordtype">float</span> cy = -1);</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      ~<a class="code" href="structpcl_1_1gpu_1_1_ray_caster.html">RayCaster</a>();</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="structpcl_1_1gpu_1_1_ray_caster.html#aa3dfba565c7bd2b24d5b5ec26810da02">   83</a></span>&#160;      <a class="code" href="structpcl_1_1gpu_1_1_ray_caster.html#aa3dfba565c7bd2b24d5b5ec26810da02">setIntrinsics</a>(<span class="keywordtype">float</span> fx = 525.f, <span class="keywordtype">float</span> fy = 525.f, <span class="keywordtype">float</span> cx = -1, <span class="keywordtype">float</span> cy = -1);</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      </div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="structpcl_1_1gpu_1_1_ray_caster.html#a5bc58eb25d9e80975a603fe373d3db9d">   90</a></span>&#160;      <a class="code" href="structpcl_1_1gpu_1_1_ray_caster.html#a5bc58eb25d9e80975a603fe373d3db9d">run</a>(<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_tsdf_volume.html">TsdfVolume</a>&amp; volume, <span class="keyword">const</span> Eigen::Affine3f&amp; camera_pose);</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="structpcl_1_1gpu_1_1_ray_caster.html#abdb5814ba3cee282073b4a15c1aae061">   96</a></span>&#160;      <a class="code" href="structpcl_1_1gpu_1_1_ray_caster.html#abdb5814ba3cee282073b4a15c1aae061">generateSceneView</a>(<a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">View</a>&amp; view) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="structpcl_1_1gpu_1_1_ray_caster.html#a960e1bbc1ac608ceccaea355d7408098">  103</a></span>&#160;      <a class="code" href="structpcl_1_1gpu_1_1_ray_caster.html#a960e1bbc1ac608ceccaea355d7408098">generateSceneView</a>(<a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">View</a>&amp; view, <span class="keyword">const</span> Eigen::Vector3f&amp; light_source_pose) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00109"></a><span class="lineno"><a class="line" href="structpcl_1_1gpu_1_1_ray_caster.html#a42bca75d5df767941a32bf211347850a">  109</a></span>&#160;      <a class="code" href="structpcl_1_1gpu_1_1_ray_caster.html#a42bca75d5df767941a32bf211347850a">generateDepthImage</a>(<a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">Depth</a>&amp; depth) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a></div>
<div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="structpcl_1_1gpu_1_1_ray_caster.html#a2fd1629d61d7c461cf36c50b7fbe01d3">  113</a></span>&#160;      <a class="code" href="structpcl_1_1gpu_1_1_ray_caster.html#a2fd1629d61d7c461cf36c50b7fbe01d3">getVertexMap</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a></div>
<div class="line"><a name="l00117"></a><span class="lineno"><a class="line" href="structpcl_1_1gpu_1_1_ray_caster.html#a77970a7c4c07f35476d078531a995e3a">  117</a></span>&#160;      <a class="code" href="structpcl_1_1gpu_1_1_ray_caster.html#a77970a7c4c07f35476d078531a995e3a">getNormalMap</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00121"></a><span class="lineno"><a class="line" href="structpcl_1_1gpu_1_1_ray_caster.html#a5ee60c30d761835b30777f35625d4add">  121</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="structpcl_1_1gpu_1_1_ray_caster.html#a5ee60c30d761835b30777f35625d4add">fx_</a>, fy_, cx_, cy_;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;            </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      <span class="comment">/* Vertext/normal map internal representation example for rows=2 and cols=4</span></div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;<span class="comment">       *  X X X X</span></div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;<span class="comment">       *  X X X X</span></div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;<span class="comment">       *  Y Y Y Y</span></div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;<span class="comment">       *  Y Y Y Y</span></div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;<span class="comment">       *  Z Z Z Z</span></div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;<span class="comment">       *  Z Z Z Z     </span></div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;<span class="comment">       */</span></div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="structpcl_1_1gpu_1_1_ray_caster.html#a94789762374be336d37b68a968150967">  133</a></span>&#160;      <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a> <a class="code" href="structpcl_1_1gpu_1_1_ray_caster.html#a94789762374be336d37b68a968150967">vertex_map_</a>;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      </div>
<div class="line"><a name="l00136"></a><span class="lineno"><a class="line" href="structpcl_1_1gpu_1_1_ray_caster.html#ae1f7db5732b2c4e2289d958557702217">  136</a></span>&#160;      <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a> <a class="code" href="structpcl_1_1gpu_1_1_ray_caster.html#ae1f7db5732b2c4e2289d958557702217">normal_map_</a>;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="structpcl_1_1gpu_1_1_ray_caster.html#ae673b1fe5e1cbe1e7d72e4ee8d47c9a2">  139</a></span>&#160;      Eigen::Affine3f <a class="code" href="structpcl_1_1gpu_1_1_ray_caster.html#ae673b1fe5e1cbe1e7d72e4ee8d47c9a2">camera_pose_</a>;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="structpcl_1_1gpu_1_1_ray_caster.html#a72f0e1cef49d6b867d781a7e5cae721d">  142</a></span>&#160;      Eigen::Vector3f <a class="code" href="structpcl_1_1gpu_1_1_ray_caster.html#a72f0e1cef49d6b867d781a7e5cae721d">volume_size_</a>;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    };</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Type&gt;</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    <span class="keywordtype">void</span> convertMapToOranizedCloud(<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">RayCaster::MapArr</a>&amp; map, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;PointType&gt;</a>&amp; cloud);</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  }</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;}</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_KINFU_TSDF_RAYCASTER_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_device_array2_d_html"><div class="ttname"><a href="classpcl_1_1gpu_1_1_device_array2_d.html">pcl::gpu::DeviceArray2D&lt; float &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_tsdf_volume_html"><div class="ttname"><a href="classpcl_1_1gpu_1_1_tsdf_volume.html">pcl::gpu::TsdfVolume</a></div><div class="ttdoc">TsdfVolume class</div><div class="ttdef"><b>Definition:</b> tsdf_volume.h:56</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1_ray_caster_html"><div class="ttname"><a href="structpcl_1_1gpu_1_1_ray_caster.html">pcl::gpu::RayCaster</a></div><div class="ttdoc">Class that performs raycasting for TSDF volume</div><div class="ttdef"><b>Definition:</b> raycaster.h:60</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1_ray_caster_html_a2fd1629d61d7c461cf36c50b7fbe01d3"><div class="ttname"><a href="structpcl_1_1gpu_1_1_ray_caster.html#a2fd1629d61d7c461cf36c50b7fbe01d3">pcl::gpu::RayCaster::getVertexMap</a></div><div class="ttdeci">MapArr getVertexMap() const</div><div class="ttdoc">Returns raycasterd vertex map.</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1_ray_caster_html_a42bca75d5df767941a32bf211347850a"><div class="ttname"><a href="structpcl_1_1gpu_1_1_ray_caster.html#a42bca75d5df767941a32bf211347850a">pcl::gpu::RayCaster::generateDepthImage</a></div><div class="ttdeci">void generateDepthImage(Depth &amp;depth) const</div><div class="ttdoc">Generates depth image using data raycasted by run method. So call it before.</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1_ray_caster_html_a5585298f07e2eca21926256f9771246d"><div class="ttname"><a href="structpcl_1_1gpu_1_1_ray_caster.html#a5585298f07e2eca21926256f9771246d">pcl::gpu::RayCaster::cols</a></div><div class="ttdeci">const int cols</div><div class="ttdoc">Image with height</div><div class="ttdef"><b>Definition:</b> raycaster.h:68</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1_ray_caster_html_a5bc58eb25d9e80975a603fe373d3db9d"><div class="ttname"><a href="structpcl_1_1gpu_1_1_ray_caster.html#a5bc58eb25d9e80975a603fe373d3db9d">pcl::gpu::RayCaster::run</a></div><div class="ttdeci">void run(const TsdfVolume &amp;volume, const Eigen::Affine3f &amp;camera_pose)</div><div class="ttdoc">Runs raycasting algorithm from given camera pose. It writes results to internal fiels.</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1_ray_caster_html_a5ee60c30d761835b30777f35625d4add"><div class="ttname"><a href="structpcl_1_1gpu_1_1_ray_caster.html#a5ee60c30d761835b30777f35625d4add">pcl::gpu::RayCaster::fx_</a></div><div class="ttdeci">float fx_</div><div class="ttdoc">Camera intrinsics.</div><div class="ttdef"><b>Definition:</b> raycaster.h:121</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1_ray_caster_html_a72f0e1cef49d6b867d781a7e5cae721d"><div class="ttname"><a href="structpcl_1_1gpu_1_1_ray_caster.html#a72f0e1cef49d6b867d781a7e5cae721d">pcl::gpu::RayCaster::volume_size_</a></div><div class="ttdeci">Eigen::Vector3f volume_size_</div><div class="ttdoc">Last passed volume size</div><div class="ttdef"><b>Definition:</b> raycaster.h:142</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1_ray_caster_html_a77970a7c4c07f35476d078531a995e3a"><div class="ttname"><a href="structpcl_1_1gpu_1_1_ray_caster.html#a77970a7c4c07f35476d078531a995e3a">pcl::gpu::RayCaster::getNormalMap</a></div><div class="ttdeci">MapArr getNormalMap() const</div><div class="ttdoc">Returns raycasterd normal map.</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1_ray_caster_html_a94789762374be336d37b68a968150967"><div class="ttname"><a href="structpcl_1_1gpu_1_1_ray_caster.html#a94789762374be336d37b68a968150967">pcl::gpu::RayCaster::vertex_map_</a></div><div class="ttdeci">MapArr vertex_map_</div><div class="ttdoc">vertex map of 3D points</div><div class="ttdef"><b>Definition:</b> raycaster.h:133</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1_ray_caster_html_a960e1bbc1ac608ceccaea355d7408098"><div class="ttname"><a href="structpcl_1_1gpu_1_1_ray_caster.html#a960e1bbc1ac608ceccaea355d7408098">pcl::gpu::RayCaster::generateSceneView</a></div><div class="ttdeci">void generateSceneView(View &amp;view, const Eigen::Vector3f &amp;light_source_pose) const</div><div class="ttdoc">Generates scene view using data raycasted by run method. So call it before.</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1_ray_caster_html_aa3dfba565c7bd2b24d5b5ec26810da02"><div class="ttname"><a href="structpcl_1_1gpu_1_1_ray_caster.html#aa3dfba565c7bd2b24d5b5ec26810da02">pcl::gpu::RayCaster::setIntrinsics</a></div><div class="ttdeci">void setIntrinsics(float fx=525.f, float fy=525.f, float cx=-1, float cy=-1)</div><div class="ttdoc">Sets camera intrinsics</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1_ray_caster_html_abdb5814ba3cee282073b4a15c1aae061"><div class="ttname"><a href="structpcl_1_1gpu_1_1_ray_caster.html#abdb5814ba3cee282073b4a15c1aae061">pcl::gpu::RayCaster::generateSceneView</a></div><div class="ttdeci">void generateSceneView(View &amp;view) const</div><div class="ttdoc">Generates scene view using data raycasted by run method. So call it before.</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1_ray_caster_html_ad7b64edce595a883b446cfb2006f7121"><div class="ttname"><a href="structpcl_1_1gpu_1_1_ray_caster.html#ad7b64edce595a883b446cfb2006f7121">pcl::gpu::RayCaster::RayCaster</a></div><div class="ttdeci">RayCaster(int rows=480, int cols=640, float fx=525.f, float fy=525.f, float cx=-1, float cy=-1)</div><div class="ttdoc">Constructor</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1_ray_caster_html_ae1f7db5732b2c4e2289d958557702217"><div class="ttname"><a href="structpcl_1_1gpu_1_1_ray_caster.html#ae1f7db5732b2c4e2289d958557702217">pcl::gpu::RayCaster::normal_map_</a></div><div class="ttdeci">MapArr normal_map_</div><div class="ttdoc">normal map of 3D points</div><div class="ttdef"><b>Definition:</b> raycaster.h:136</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1_ray_caster_html_ae673b1fe5e1cbe1e7d72e4ee8d47c9a2"><div class="ttname"><a href="structpcl_1_1gpu_1_1_ray_caster.html#ae673b1fe5e1cbe1e7d72e4ee8d47c9a2">pcl::gpu::RayCaster::camera_pose_</a></div><div class="ttdeci">Eigen::Affine3f camera_pose_</div><div class="ttdoc">camera pose from which raycasting was done</div><div class="ttdef"><b>Definition:</b> raycaster.h:139</div></div>
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